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課程名稱 |
機器人視覺
Robot Vision |
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開課學期 |
111-2 |
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授課對象 |
工學院 機械工程學系 |
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授課教師 |
黃漢邦 |
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課號 |
ME5043 |
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課程識別碼 |
522 U6180 |
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班次 |
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學分 |
3.0 |
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全/半年 |
半年 |
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必/選修 |
選修 |
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上課時間 |
星期一2,3,4(9:10~12:10) |
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上課地點 |
工綜215 |
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備註 |
領域專長-機器人模組與林峻永合授
總人數上限：65人 |
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課程簡介影片 |
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核心能力關聯 |
核心能力與課程規劃關聯圖 |
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課程大綱
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為確保您我的權利,請尊重智慧財產權及不得非法影印
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課程概述 |
This class is designed for graduate or junior/senior engineering students. Students will learn image processing, model-based vision, camera model, calibration, pose estimation, stereo vision, and neural network (and AI) for robot vision. |
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課程目標 |
Design of algorithms for robotic vision systems for automation, manufacturing, and service industries, image processing, optics, illumination, and feature representation. |
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課程要求 |
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預期每週課後學習時數 |
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Office Hours |
每週三 14:00~15:00
每週一 14:00~15:00
每週五 14:00~15:00
每週四 14:00~15:00
每週三 13:30~15:00
每週二 13:30~14:30
每週一 13:30~14:30 備註： February 20‐April 17:
Professor Han-Pang Huang 黃漢邦
Office: COE 737; Office hours: Monday 13:30‐14:30 and Tuesday 13:30‐14:30
Tel: 3366-2700; E-mail: hanpang@ntu.edu.tw
Jia-Hsun Lo 羅佳勳；email: d11522006@ntu.edu.tw
Chian-Yao Tseng 曾建堯；email: r11522810@ntu.edu.tw
Office: 工綜B08 Tel: 3366–4478
Office hour: Wednesday 13:30–15:00
April 24‐June 5:
Professor Chun-Yeon Lin 林峻永
Office: COE 513; Office hours: Thursday 14:00‐15:00 and Friday 14:00‐15:00
Tel: 3366-2725; E-mail: chunyeonlin@ntu.edu.tw
Yi-Chin Wu 吳易秦; e-mail: d10522011@ntu.edu.tw
Office: YongLin Institute of Health 231 永齡生醫館231室
Office hours: Monday: 14:00–15:00, Wednesday: 14:00–15:00
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指定閱讀 |
R. C. Gonzalez and R. E. Woods, Digital Image Processing, Prentice Hall, 4th Edition, 2018. (開發出版社) |
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參考書目 |
1. R. Gonzalez, R. Woods, and S. Eddins, Digital Image Processing using Matlab, 2nd ed., Prentice Hall, 2009.
2. D. H. Ballard and C. M. Brown, Computer Vision, Prentice Hall. 1982.
3. B. K. P. Horn, Robot Vision, MIT Press. 1986.
4. N. Zuech, Applying Machine Vision, Wiley Interscience. 1988.
5. R. M. Haralick and L. G. Shapiro, Computer and Robot Vision, V1 & 2, Addison Wesley. 1992.
6. F. van der Heijden, Image Based Measurement Systems, John Wiley and Sons, 1995.
7. E. R. Davies, Computer and Machine Vision: Theory, Algorithm, & Practicalities, 4th ed., Acad. Press, 2012.
8. Linda G. Shapiro and George C. Stockman, Machine Vision, Prentice Hall, 2001.
9. D. A. Forsyth, and J. Ponce, Computer Vision: A Modern Approach, Prentice Hall. 2nd ed., 2011.
10. R. Szeliski, Computer Vision: Algorithms and Applications, Springer-Verlag, London, 2011.
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評量方式
(僅供參考) |
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No. |
項目 |
百分比 |
說明 |
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1. |
Midterm 1 |
25% |
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2. |
Midterm 2 |
25% |
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3. |
Four homeworks |
25% |
6.25 % each |
4. |
Final project |
25% |
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針對學生困難提供學生調整方式 |
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上課形式 |
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作業繳交方式 |
延長作業繳交期限 |
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考試形式 |
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其他 |
由師生雙方議定 |
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週次 |
日期 |
單元主題 |
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第1週 |
2/20 |
Introduction to robot vision,
Frequency analysis, Fourier transform |
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第2週 |
2/27 |
和平紀念日假期Holiday |
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第3週 |
3/6 |
Overview of OpenCV, Matlab and experiments |
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第4週 |
3/13 |
Image formation and image processing: Image degradation and restoration
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第5週 |
3/20 |
Image degradation and restoration, Morphological operation
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第6週 |
3/27 |
Camera calibration, Project proposal
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第7週 |
4/3 |
清明假期Holiday |
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第8週 |
4/10 |
Geometric methods: Camera calibration, Hand eye calibration |
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第9週 |
4/17 |
1st Exam |
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第10週 |
4/24 |
Geometric methods: Pose estimation, Stereo vision |
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第11週 |
5/1 |
Model-based vision: Hough transform, Principle component analysis |
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第12週 |
5/8 |
Model-based vision: Curvature method, Featuring matching and selection, Project preview demonstration
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第13週 |
5/15 |
Biologically inspired vision: Neural network |
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第14週 |
5/22 |
Color vision, Image segmentation |
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第15週 |
5/29 |
2nd Exam |
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第16週 |
6/5 |
Term project presentation |
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